docs: def rotation_from_quaternion(q_wxyz):
          """Convert quaternion array to rotation matrix.
  
          Parameters
          ----------
          q_wxyz : :obj:`numpy.ndarray` of float
              A quaternion in wxyz order.
  
          Returns
          -------
          :obj:`numpy.ndarray` of float
              A 3x3 rotation matrix made from the quaternion.
          """
          q_xyzw = np.array([q_wxyz[1], q_wxyz[2], q_wxyz[3], q_wxyz[0]])
          R = transformations.quaternion_matrix(q_xyzw)[:3,:3]
          return R